CN118131827A - Self-adaptive servo motor tracking and cutting control method, device and system - Google Patents
Self-adaptive servo motor tracking and cutting control method, device and system Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The invention relates to a self-adaptive servo motor tracking and cutting control method, a device and a system, wherein the method comprises the following steps: the main shaft is controlled to run at a constant speed; when a starting signal of the photoelectric sensor is received, controlling the shaft-tracking driver to trigger the shaft-tracking to accelerate until the speed is the same as that of the main shaft, controlling the shaft-tracking driver to output a same-speed signal to the shaft-cutting driver, and when the starting signal of the photoelectric sensor is received, controlling the shaft-cutting driver to trigger the shaft-cutting to start and keep the same speed with the shaft-tracking; when the same-speed signal of the shaft tracking driver is received, the shaft cutting driver is controlled to trigger the shaft cutting to cut off materials, a cutting-off completion output signal is sent to the shaft tracking driver, the shaft tracking driver is controlled to trigger the shaft tracking to stop in a decelerating way, position difference before and after compensation is acquired, compensation and uncompensated position precision are compared, and under the condition that parameters are not required to be adjusted, the positioning precision of the self-adaptive servo shaft tracking and cutting system is higher than that of a traditional controller, communication delay time is reduced, and PLC programming of a servo motor is simplified.
Description
Technical Field
The invention relates to the technical field of servo motors, in particular to a self-adaptive servo motor tracking and cutting control method, a self-adaptive servo motor tracking and cutting control device, a self-adaptive servo motor tracking and cutting control system, computer equipment and a storage medium.
Background
The servo motor is also called an actuator motor. The working principle is similar to that of a two-phase asynchronous motor. However, since it is used as an actuator in a numerical control machine tool to convert an ac signal into an angular displacement or an angular velocity on a shaft, it is required that the speed of rotation of a rotor be able to reflect the phase of a control signal. Without the control signal, it does not rotate.
There are three general control modes for a servo motor, namely: speed control mode, torque control mode, and position control mode. Both speed control and torque control are controlled by analog quantity control, while position control is controlled by sending pulses.
The chasing shear servo control technology is mainly applied to fixed-length cutting of various materials, is a control mode which is widely applied in the processing and manufacturing automation industry, but the positioning accuracy of the existing servo controller end for realizing chasing cutting is lower.
Disclosure of Invention
In view of the foregoing, embodiments of the present invention have been developed to provide an adaptive servo motor chase cutting control method, an adaptive servo motor chase cutting control apparatus, an adaptive servo motor chase cutting control system, a computer device, and a storage medium that overcome or at least partially solve the foregoing problems.
In order to achieve the above purpose, the present invention provides an adaptive servo motor tracking and cutting control method, which includes:
The main shaft is controlled to run at a constant speed;
When a starting signal of the photoelectric sensor is received, controlling the shaft-tracking driver to trigger the shaft-tracking to accelerate until the speed is the same as that of the main shaft, controlling the shaft-tracking driver to output a same-speed signal to the shaft-cutting driver, and when the starting signal of the photoelectric sensor is received, controlling the shaft-cutting driver to trigger the shaft-cutting to start and keep the same speed with the shaft-tracking;
When the same-speed signal of the shaft-tracking driver is received, the shaft-cutting driver is controlled to trigger the shaft-cutting to cut off materials, and a cutting-off completion output signal is sent to the shaft-tracking driver, and the shaft-tracking driver is controlled to trigger the shaft-tracking to slow down and stop.
Preferably, when receiving a start signal of the photoelectric sensor, the control of the tracking driver to trigger the tracking to accelerate until the speed is the same as the speed of the main shaft, the control of the tracking driver to output a same-speed signal to the cutting driver, includes:
When a starting signal of the photoelectric sensor is received, the shaft-tracking driver is controlled to trigger the shaft-tracking to accelerate until the speed of the shaft-tracking driver is the same as that of the main shaft, the shaft-tracking driver is controlled to output a synchronous speed signal to the shaft-cutting driver, and the main shaft and the shaft-tracking are operated in a synchronous area.
Preferably, when receiving a start signal of the photoelectric sensor, the control of the tracking driver to trigger the tracking to accelerate until the speed is the same as the speed of the main shaft, the control of the tracking driver to output a same-speed signal to the cutting driver, includes:
when a starting signal of the photoelectric sensor is received, the shaft-tracking driver is controlled to trigger the shaft-tracking to accelerate until the speed of the shaft-tracking driver is the same as that of the main shaft, the shaft-tracking driver is controlled to output a same-speed signal to the shaft-cutting driver, and the main shaft and the shaft-tracking driver operate in a same speed-reducing area.
Preferably, when receiving a start signal of the photoelectric sensor, the control of the tracking driver to trigger the tracking to accelerate until the speed is the same as the speed of the main shaft, the control of the tracking driver to output a same-speed signal to the cutting driver, includes:
acquiring the actual position of a tracking shaft and the actual position of a main shaft;
calculating the distance of actual spindle movement and the distance of actual shaft tracking movement according to the position of the shaft tracking target and the actual position of the shaft tracking;
Calculating the position difference between the main shaft and the tracking shaft and the position difference between the same-speed main shaft and the tracking shaft according to the distance of the actual main shaft movement and the distance of the actual tracking shaft movement;
And according to the position difference between the main shaft and the tracking shaft and the position difference between the same-speed main shaft and the tracking shaft, obtaining a compensation distance, controlling the tracking shaft to travel to a corresponding position according to the compensation distance, and controlling the tracking shaft driver to output a same-speed signal to the cutting shaft driver when the position difference between the main shaft and the tracking shaft is within a preset range.
Preferably, the method further comprises:
Acquiring the target position of the tracking shaft and the uniform speed of the main shaft;
calculating to obtain a tracking acceleration and a tracking acceleration time according to the tracking target position and the constant speed of the main shaft;
and calling a first preset mode in the tracking shaft driver to enable the tracking shaft to move according to the set speed and position.
Preferably, the method further comprises:
And carrying out low-pass filtering on the compensation distance to avoid the step caused by a larger compensation distance.
Preferably, when receiving a start signal of the photoelectric sensor, the control of the tracking driver to trigger the tracking to accelerate until the speed is the same as the speed of the main shaft, the control of the tracking driver to output a same-speed signal to the cutting driver, includes:
when a starting signal of a photoelectric sensor is received, acquiring the actual position of a main shaft, and calculating the target position of a tracking area according to a motion coefficient;
controlling the tracking shaft to reach a target position with preset acceleration, calculating the difference between a theoretical position and an actual position in real time to obtain a deviation value, and adjusting the synchronous speed of the main shaft and the tracking shaft after proportional integral adjustment of the deviation value;
And when the main shaft and the tracking shaft are in the same deceleration, calculating the actual speed error of the motor, and if the error is smaller than the set same-speed judging error threshold value, controlling the tracking shaft driver to output the same-deceleration signal to the cutting shaft driver.
Preferably, the method further comprises:
and acquiring a main shaft tracking area movement distance and a theoretical tracking area tracking target position, and determining the ratio of the main shaft tracking area movement distance to the theoretical tracking area tracking target position as a movement coefficient.
An adaptive servo motor chase cutting control system, the system comprising:
A main shaft and a corresponding shaft-following and shaft-cutting device; the main shaft is provided with a main shaft encoder, the shaft tracking is provided with a shaft tracking driver, and the shaft cutting is provided with a shaft cutting driver; the main shaft encoder is respectively connected with the cutting shaft driver and the tracking shaft driver through encoder interfaces, so that the cutting shaft driver and the tracking shaft driver acquire the position information of the main shaft in real time;
The first signal interface of the shaft-following driver is connected with the second signal interface of the shaft-cutting driver; when the speeds of the main shaft and the shaft are the same, controlling the shaft-chasing driver to send the same-speed signal to the shaft-cutting driver through the first signal interface and the second signal interface, and controlling the shaft-cutting driver to trigger the shaft-cutting to cut off materials;
The third signal interface of the shaft cutting driver is connected with the fourth signal interface of the shaft tracking driver; after the material is cut off by the cutting shaft, the cutting shaft driver is controlled to send a cutting completion output signal to the shaft following driver through the third signal interface and the fourth signal interface, and the shaft following driver is controlled to trigger the shaft following speed reduction and stop.
Preferably, a photoelectric sensor is arranged on the main shaft, the photoelectric sensor is respectively connected with the tracking driver and the cutting driver through high-speed terminals, and when the photoelectric sensor detects that the belt moves, a starting signal is sent to the tracking driver and the cutting driver.
Preferably, the spindle is connected with the belt, the spindle encoder comprises an ABZ encoder, and the spindle is connected with the ABZ encoder.
An adaptive servo motor chase cutting control device, the device comprising:
The constant-speed running control module is used for controlling the spindle to run at a constant speed;
The speed control module is used for controlling the shaft-following driver to trigger the shaft-following to accelerate until the speed is the same as that of the main shaft when receiving a starting signal of the photoelectric sensor, controlling the shaft-following driver to output a same-speed signal to the shaft-cutting driver, and controlling the shaft-cutting driver to trigger the shaft-cutting to start and keep the same speed with the shaft-following when receiving the starting signal of the photoelectric sensor;
And the cutting control module is used for controlling the shaft cutting driver to trigger the shaft cutting driver to cut off materials when receiving the same-speed signal of the shaft tracking driver, sending a cutting completion output signal to the shaft tracking driver and controlling the shaft tracking driver to trigger the shaft tracking to slow down and stop.
The invention discloses a computer device, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the self-adaptive servo motor tracking control method when executing the computer program.
The invention discloses a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the steps of the adaptive servo motor follow-up control method described above.
In the embodiment of the invention, the position difference before and after compensation is acquired, the compensation position precision and the uncompensated position precision are compared, the positioning precision of the self-adaptive servo tracking and cutting system is higher than the positioning precision of tracking and cutting realized by the traditional controller end under the condition that the adjustment parameters are not needed, the communication delay time is reduced, and the PLC programming of the servo motor is simplified.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an adaptive servo motor chase cutting control system according to embodiments of the present disclosure;
FIG. 2 is a flow chart of steps of an embodiment of an adaptive servo motor chase cutting control method according to an embodiment of the present disclosure;
FIG. 3 is a graph showing the speed profile of a spindle, a chase shaft, and a cutting shaft according to an embodiment of the present invention;
FIG. 4 is a graph showing the speed of a spindle, a chase shaft, and a cutting shaft according to another embodiment of the present disclosure;
FIG. 5 is a block diagram of an embodiment of an adaptive servo motor chase cutting control apparatus according to an embodiment of the present disclosure;
FIG. 6 is an internal block diagram of a computer device of one embodiment.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects solved by the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, a schematic diagram of an adaptive servo motor tracking control system according to an embodiment of the present invention may specifically include the following components:
A main shaft and a corresponding shaft-following and shaft-cutting device; the main shaft is provided with a main shaft encoder, the shaft tracking is provided with a shaft tracking driver, and the shaft cutting is provided with a shaft cutting driver; the main shaft encoder is respectively connected with the cutting shaft driver and the tracking shaft driver through encoder interfaces, so that the cutting shaft driver and the tracking shaft driver acquire the position information of the main shaft in real time;
Specifically, the spindle encoder, the spindle driver and the spindle driver are connected to each other, from the system perspective, the spindle encoder, the spindle driver and the spindle driver are all connected to a PLC (programmable logic controller ) terminal, the PLC terminal can be operated with a servo host computer software, the PLC terminal controls the operation of the spindle encoder, the spindle driver and the spindle driver, and accordingly, the spindle driver controls the operation of the spindle, and the spindle encoder controls the operation of the spindle, specifically, the spindle encoder is connected to respective second encoder interfaces of the spindle driver and the spindle driver, and the first encoder interface is an interface for connecting the photoelectric sensor to the spindle driver and the spindle driver.
Besides the encoder interface, the shaft-tracking driver and the shaft-cutting driver are also provided with a plurality of signal interfaces, in particular, a first signal interface of the shaft-tracking driver is connected with a second signal interface of the shaft-cutting driver; when the speeds of the main shaft and the shaft are the same, controlling the shaft-chasing driver to send the same-speed signal to the shaft-cutting driver through the first signal interface and the second signal interface, and controlling the shaft-cutting driver to trigger the shaft-cutting to cut off materials;
The third signal interface of the shaft cutting driver is connected with the fourth signal interface of the shaft tracking driver; of course, the axle cutting driver and the axle tracking driver may further include a fifth signal interface, a sixth signal interface, etc., which is not excessively limited in the embodiment of the present invention, and after the axle cutting cuts off the material, the axle cutting driver is controlled to send a cutting-off completion output signal to the axle tracking driver through the third signal interface and the fourth signal interface, and the axle tracking driver is controlled to trigger the axle tracking to slow down and stop.
Further, a photoelectric sensor is arranged on the main shaft, the photoelectric sensor is respectively connected into the tracking driver and the cutting driver through a high-speed terminal, namely a first encoder interface, and when the photoelectric sensor detects that the belt moves, a starting signal is sent to the tracking driver and the cutting driver.
In particular, in the embodiment of the present invention, the spindle is connected to the belt, and the spindle encoder may include an ABZ encoder, and the spindle is connected to the ABZ encoder.
As shown in fig. 1, the main shaft and the tracking shaft are arranged in parallel, the main shaft and the cutting shaft can be vertically arranged or arranged at a preset angle, the material moves on a belt of the main shaft, the tracking shaft drives the cutting shaft to advance to a preset position, the cutting shaft is controlled to cut off the material, i.e. the cutting shaft and the tracking shaft are respectively provided with a motor, and the position and the action of the cutting shaft and the tracking shaft are controlled by the motors.
Specifically, the chase cutting control system of the embodiment of the invention comprises a main shaft, wherein only encoder signals are needed on a conveyor belt on the main shaft, and two main shafts are needed. The main shaft runs at constant speed, the first shaft is a tracking shaft, the tracking shaft reaches a planned tracking area, and the main shaft is tracked under the condition of no fluctuation of speed, runs at the same speed as the main shaft, and outputs a DO signal; the second shaft is a cutting shaft, and after the main shaft is caught up by the catch-up shaft and kept at the same speed as the main shaft, the cutting shaft completes the cutting action. The tracking and cutting shafts are fed back to the system cutting completion signal through the state word, and if abnormality occurs in the tracking and cutting process, an abnormality signal is fed back.
Referring to fig. 2, a step flow chart of an embodiment of an adaptive servo motor tracking control method according to the embodiment of the present invention is shown, which specifically may include the following steps:
Step 101, controlling a main shaft to run at a constant speed;
102, when a starting signal of a photoelectric sensor is received, controlling the shaft-tracking driver to trigger the shaft-tracking to accelerate until the speed of the shaft-tracking driver is the same as that of a main shaft, and controlling the shaft-tracking driver to output a same-speed signal to a shaft-cutting driver; when a starting signal of the photoelectric sensor is received, controlling the axis cutting driver to trigger the axis cutting to start, and keeping the same speed with the axis tracking;
in the embodiment of the invention, the spindle is controlled to run at a constant speed, and the spindle can run from zero at a constant speed.
In one embodiment, when receiving the start signal of the photoelectric sensor, the control of the tracking driver to trigger the tracking to accelerate until the speed is the same as the speed of the main shaft, the control of the tracking driver to output the same-speed signal to the cutting driver includes:
When a starting signal of a photoelectric sensor is received, controlling the shaft-following driver to trigger the shaft-following to accelerate until the speed of the shaft-following driver is the same as that of a main shaft, and controlling the shaft-following driver to output a synchronous signal to a shaft-cutting driver, wherein the main shaft and the shaft-following operate in a synchronous zone;
As shown in fig. 3, in the uniform motion of the main shaft, when the start signal of the photoelectric sensor is received at a certain moment, the tracking shaft starts to move, after the tracking shaft passes through the tracking area and the synchronous area, the speed is kept at the same speed as the main shaft, and a DO signal is output at the tangential point position, so that the cutting shaft is triggered to accelerate cutting;
Specifically, a target position of a tracking shaft and a constant speed of a main shaft are obtained; after the tracking driver receives the issued starting signal, the tracking starts to move, the tracking target position S 1 is tracked, and under the condition that the main shaft constant speed V 0 is sufficient in the tracking area, the tracking running mode is a JOG mode (inching signal mode);
calculating to obtain a tracking acceleration and a tracking acceleration time according to the tracking target position and the constant speed of the main shaft;
in the embodiment of the invention, a speed curve of a shaft tracking area is set as follows:
the calculated tracking acceleration can be calculated:
the following area acceleration time is as follows:
After the tracking shaft receives the starting signal, recording the actual position of the tracking shaft at the moment as S S1, and simultaneously reading the actual position of the main shaft at the moment as S M1; and calling a first preset mode in the tracking driver according to the tracking acceleration, the tracking acceleration time, the speed and the like, so that the tracking shaft moves according to the set speed and the set position, wherein the first preset mode can comprise a JOG mode.
In the embodiment of the invention, after the theoretical speed of the tracking shaft is reached, calculating the actual speed error of the motor, and if the error is smaller than the set minimum speed error value judged at the same speed, acquiring the actual position S S2 of the tracking shaft and the actual position S M2 of the main shaft;
calculating the distance of actual spindle movement and the distance of actual shaft tracking movement according to the position of the shaft tracking target and the actual position of the shaft tracking;
specifically, the distance of the actual spindle motion is: Δs M＝SM2-SM1;
The actual distance of the following shaft motion is as follows: Δs S＝SS2-SS1;
Calculating the position difference between the main shaft and the tracking shaft and the position difference between the same-speed main shaft and the tracking shaft according to the distance of the actual main shaft movement and the distance of the actual tracking shaft movement;
after the area tracking is completed in theory, the position difference between the main shaft and the tracking shaft is as follows: Δs Management device ＝S-S1;
When the speed is actually equal, the position difference between the same-speed main shaft and the tracking shaft is as follows: Δs Real world ＝ΔSM-ΔSS;
And according to the position difference between the main shaft and the tracking shaft and the position difference between the same-speed main shaft and the tracking shaft, obtaining a compensation distance, controlling the tracking shaft to travel to a corresponding position according to the compensation distance, and controlling the tracking shaft driver to output a same-speed signal to the cutting shaft driver when the position difference between the main shaft and the tracking shaft is within a preset range.
Specifically, after entering the synchronization zone, the main shaft and the tracking shaft keep moving at the same speed and are relatively static. The theoretical position difference and the actual position difference are the tracking and cutting precision.
Calculating to obtain a position value needing to be compensated on the tracking shaft, namely delta S M Tonifying device ＝ΔS Management device -ΔS Real world according to the position difference between the theoretical main shaft and the tracking shaft and the position difference between the actual main shaft and the tracking shaft; the compensation distance DeltaS M Tonifying device is split into a plurality of periods to be compensated to the given position of the tracking shaft. The position difference of the main shaft and the shaft tracking is in a reasonable range, the shaft tracking outputs a same-speed signal, and the shaft tracking is stopped in a decelerating way after receiving a cutting-shaft cutting-off completion signal.
In the embodiment of the invention, the low-pass filtering is carried out for the compensation distance, so that the step caused by the larger compensation distance is avoided. Under the condition of larger theoretical and actual difference, larger compensation distance can cause step, and a first-order low-pass filter can be introduced into the system: y n＝a*Xn-(1-a)*Yn-1; and (5) low-pass filtering the compensation distance.
Under another working condition, when receiving a starting signal of the photoelectric sensor, controlling the tracking driver to trigger the tracking to accelerate until the speed is the same as that of the main shaft, and controlling the tracking driver to output a same-speed signal to the cutting driver, wherein the method comprises the following steps:
when a starting signal of the photoelectric sensor is received, the shaft-tracking driver is controlled to trigger the shaft-tracking to accelerate until the speed of the shaft-tracking driver is the same as that of the main shaft, the shaft-tracking driver is controlled to output a same-speed signal to the shaft-cutting driver, and the main shaft and the shaft-tracking driver operate in a same speed-reducing area.
As shown in fig. 4, in the case that certain working conditions DO not have enough distance to chase, in the uniform motion of the main shaft, the chase shaft is triggered to start to move at a certain moment, after the chase shaft passes through the chase zone and the same speed reduction zone, the speed and the main shaft keep the same speed reduction, and DO signals are output at the tangential point positions to trigger the cutting shaft to cut off.
Specifically, when the main shaft keeps a constant-speed running state, a photoelectric sensor on the main shaft senses a belt and triggers the starting of shaft tracking and shaft cutting;
when a starting signal of a photoelectric sensor is received, acquiring the actual position of a main shaft, and calculating the target position of a tracking area according to a motion coefficient;
controlling the tracking shaft to reach a target position with preset acceleration, calculating the difference between a theoretical position and an actual position in real time to obtain a deviation value, and adjusting the synchronous speed of the main shaft and the tracking shaft after proportional integral adjustment of the deviation value;
And when the main shaft and the tracking shaft are in the same deceleration, calculating the actual speed error of the motor, and if the error is smaller than the set same-speed judging error threshold value, controlling the tracking shaft driver to output the same-deceleration signal to the cutting shaft driver.
After the tracking driver receives the issued starting signal, the tracking starts to move, and the tracking precision requirement is met because the tracking mode is in a deceleration section and cannot be in a compensation mode after a speed curve is planned; at this time, the tracking driver reads the spindle position feedback S M in real time, theoretically the spindle tracking movement distance S and the theoretical tracking target position S 1, calculates the movement coefficientCalculating the target position of the tracking driver in real time according to the spindle position feedback:
Target position of the tracking area: s S＝σ*SM;
At the starting moment, the spindle is at a constant speed, the tracking shaft starts to run from zero speed, the tracking shaft is set to give larger acceleration at the moment, and the tracking shaft moves to a preset position in a shorter time. And calculating the difference between the theoretical position and the actual position in real time, and adjusting the synchronous speed after adjusting the deviation value PI.
When the main shaft and the tracking shaft are in the same deceleration, calculating the actual speed error of the motor, and outputting a same deceleration signal when the error is smaller than a set same-speed judgment error threshold value; after entering the same deceleration zone, the main shaft and the tracking shaft keep the same deceleration motion and are relatively static. The actual position difference is the chase cutting precision.
In the embodiment of the invention, the main shaft tracking movement distance and the theoretical tracking target position are obtained, and the ratio of the main shaft tracking movement distance to the theoretical tracking target position is determined as the movement coefficient.
And 103, when the same-speed signal of the shaft-tracking driver is received, controlling the shaft-cutting driver to trigger the shaft-cutting to cut off materials, and sending a cutting-off completion output signal to the shaft-tracking driver, and controlling the shaft-tracking driver to trigger the shaft-tracking to slow down and stop.
Specifically, after receiving the issued starting signal, the axis cutting driver invokes a JOG mode in the same way, keeps the same acceleration and deceleration motion with the axis tracking, enters a uniform speed area, and after receiving the same-speed signal sent by the axis tracking driver, the axis cutting is accelerated for the second time, invokes a PTP (Pass Through Positioning) mode: in the mode, a target position instruction is directly given, the driver can directly move the cutting shaft to the target position), the cutting shaft is cut off when the cutting shaft is operated to the target position, and the cutting shaft driver is controlled to stop in a decelerating mode while a cutting-off completion signal is sent to the shaft-following driver.
In another embodiment, after the cut-shaft driver receives the starting signal issued by the controller, the cut-shaft directly starts the PTP mode, the cut-shaft enters the same deceleration area, and after the cut-shaft driver receives the same deceleration signal issued by the track-shaft driver, the cut-shaft is accelerated for the second time, the PTP mode is invoked, the cut-shaft driver is operated to a target position for cutting, and the cut-shaft driver is decelerated and stopped while outputting a cutting completion signal to the track-shaft driver.
In the embodiment of the invention, the position difference before and after compensation is acquired, the compensation position precision and the uncompensated position precision are compared, the positioning precision of the self-adaptive servo tracking and cutting system is higher than the positioning precision of tracking and cutting realized by the traditional controller end under the condition that the adjustment parameters are not needed, the communication delay time is reduced, and the PLC programming is simplified.
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.
Referring to fig. 5, a block diagram of an embodiment of an adaptive servo motor tracking control device according to an embodiment of the present invention is shown, which may specifically include the following modules:
the constant speed operation control module 301 is used for controlling the constant speed operation of the spindle;
The speed control module 302 is configured to, when receiving a start signal of the photoelectric sensor, control the axis tracking driver to trigger the axis tracking to accelerate until the speed is the same as that of the main shaft, control the axis tracking driver to output a same-speed signal to the axis cutting driver, and when receiving a start signal of the photoelectric sensor, control the axis cutting driver to trigger the axis cutting to start and keep the same speed with the axis tracking;
and the cutting control module 303 is configured to control the axis cutting driver to trigger the axis cutting driver to cut off the material when receiving the same-speed signal of the axis tracking driver, send a cutting completion output signal to the axis tracking driver, and control the axis tracking driver to trigger the axis tracking speed reduction stop.
Preferably, the speed control module includes:
And the synchronous zone operation sub-module is used for controlling the tracking driver to trigger the tracking shaft to accelerate until the speed of the tracking shaft is the same as that of the main shaft when receiving the starting signal of the photoelectric sensor, controlling the tracking driver to output a synchronous signal to the cutting driver, and enabling the main shaft and the tracking shaft to operate in the synchronous zone.
Preferably, the speed control module includes:
And the same-speed-reduction-area operation sub-module is used for controlling the shaft-tracking driver to trigger the shaft-tracking to accelerate until the speed of the shaft-tracking driver is the same as that of the main shaft when receiving the starting signal of the photoelectric sensor, controlling the shaft-tracking driver to output the same-speed signal to the shaft-cutting driver, and enabling the main shaft and the shaft-tracking to operate in the same-speed-reduction area.
Preferably, the speed control module includes:
the position acquisition sub-module is used for acquiring the actual position of the tracking shaft and the actual position of the main shaft;
The distance calculation sub-module is used for calculating the distance of actual spindle movement and the distance of actual shaft tracking movement according to the position of the shaft tracking target and the actual position of the shaft tracking;
The position difference calculating sub-module is used for calculating the position difference between the main shaft and the tracking shaft and the position difference between the same-speed main shaft and the tracking shaft according to the distance of the actual main shaft movement and the distance of the actual tracking shaft movement;
And the synchronous signal output sub-module is used for obtaining the compensation distance according to the position difference between the main shaft and the tracking shaft and the position difference between the synchronous main shaft and the tracking shaft, controlling the tracking shaft to travel to the corresponding position according to the compensation distance, and controlling the tracking shaft driver to output a synchronous signal to the cutting shaft driver when the position difference between the main shaft and the tracking shaft is within a preset range.
Preferably, the apparatus further comprises:
the speed acquisition module is used for acquiring the target position of the tracking shaft and the uniform speed of the main shaft;
The computing module is used for computing and obtaining the tracking acceleration and the tracking acceleration time according to the tracking target position and the spindle uniform speed;
And the calling module is used for calling a first preset mode in the tracking shaft driver to enable the tracking shaft to move according to the set speed and position.
Preferably, the apparatus further comprises:
and the low-pass filtering module is used for carrying out low-pass filtering on the compensation distance so as to avoid the step caused by the larger compensation distance.
Preferably, the speed control module includes:
The target position acquisition sub-module is used for acquiring the actual position of the main shaft when receiving the starting signal of the photoelectric sensor, and calculating the target position of the tracking area according to the motion coefficient;
The adjusting sub-module is used for controlling the tracking shaft to reach a target position with preset acceleration, calculating the difference between the theoretical position and the actual position in real time to obtain a deviation value, and adjusting the synchronous speed of the main shaft and the tracking shaft after proportional integral adjustment of the deviation value;
And the same-speed-reduction signal output sub-module is used for calculating the actual speed error of the motor after the main shaft and the tracking shaft are subjected to same-speed reduction, and controlling the tracking shaft driver to output the same-speed-reduction signal to the cutting shaft driver if the error is smaller than a set same-speed judgment error threshold value.
Preferably, the apparatus further comprises:
The determining module is used for obtaining the main shaft tracking area moving distance and the theoretical tracking area tracking target position, and determining the ratio of the main shaft tracking area moving distance to the theoretical tracking area tracking target position as a moving coefficient.
All or part of each module in the adaptive servo motor tracking control device can be realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
The self-adaptive servo motor tracking control device provided by the invention can be used for executing the self-adaptive servo motor tracking control method provided by any embodiment, and has corresponding functions and beneficial effects.
In one embodiment, a computer device is provided, which may be a host computer, and its internal structure may be as shown in fig. 6. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements an adaptive servo motor chase cutting control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in FIG. 6 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
The main shaft is controlled to run at a constant speed;
When a starting signal of the photoelectric sensor is received, controlling the shaft-tracking driver to trigger the shaft-tracking to accelerate until the speed is the same as that of the main shaft, controlling the shaft-tracking driver to output a same-speed signal to the shaft-cutting driver, and when the starting signal of the photoelectric sensor is received, controlling the shaft-cutting driver to trigger the shaft-cutting to start and keep the same speed with the shaft-tracking;
When the same-speed signal of the shaft-tracking driver is received, the shaft-cutting driver is controlled to trigger the shaft-cutting to cut off materials, and a cutting-off completion output signal is sent to the shaft-tracking driver, and the shaft-tracking driver is controlled to trigger the shaft-tracking to slow down and stop.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
The main shaft is controlled to run at a constant speed;
When a starting signal of the photoelectric sensor is received, controlling the shaft-tracking driver to trigger the shaft-tracking to accelerate until the speed is the same as that of the main shaft, controlling the shaft-tracking driver to output a same-speed signal to the shaft-cutting driver, and when the starting signal of the photoelectric sensor is received, controlling the shaft-cutting driver to trigger the shaft-cutting to start and keep the same speed with the shaft-tracking;
When the same-speed signal of the shaft-tracking driver is received, the shaft-cutting driver is controlled to trigger the shaft-cutting to cut off materials, and a cutting-off completion output signal is sent to the shaft-tracking driver, and the shaft-tracking driver is controlled to trigger the shaft-tracking to slow down and stop.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or terminal device that comprises the element.
The foregoing describes in detail a self-adaptive servo motor tracking and cutting control method, a self-adaptive servo motor tracking and cutting control device system, a computer device and a storage medium, and specific examples are applied to illustrate the principles and embodiments of the present invention, and the above examples are only used to help understand the method and core ideas of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (14)
1. An adaptive servo motor tracking and cutting control method is characterized by comprising the following steps:
The main shaft is controlled to run at a constant speed;
When a starting signal of the photoelectric sensor is received, controlling the shaft-tracking driver to trigger the shaft-tracking to accelerate until the speed is the same as that of the main shaft, controlling the shaft-tracking driver to output a same-speed signal to the shaft-cutting driver, and when the starting signal of the photoelectric sensor is received, controlling the shaft-cutting driver to trigger the shaft-cutting to start and keep the same speed with the shaft-tracking;
When the same-speed signal of the shaft-tracking driver is received, the shaft-cutting driver is controlled to trigger the shaft-cutting to cut off materials, and a cutting-off completion output signal is sent to the shaft-tracking driver, and the shaft-tracking driver is controlled to trigger the shaft-tracking to slow down and stop.
2. The adaptive servo motor tracking and cutting control method according to claim 1, wherein when receiving a start signal of the photoelectric sensor, controlling the tracking driver to trigger the tracking to accelerate until the speed is the same as the speed of the spindle, controlling the tracking driver to output a same-speed signal to the cutting driver, comprises:
When a starting signal of the photoelectric sensor is received, the shaft-tracking driver is controlled to trigger the shaft-tracking to accelerate until the speed of the shaft-tracking driver is the same as that of the main shaft, the shaft-tracking driver is controlled to output a synchronous speed signal to the shaft-cutting driver, and the main shaft and the shaft-tracking are operated in a synchronous area.
3. The adaptive servo motor tracking and cutting control method according to claim 1, wherein when receiving a start signal of the photoelectric sensor, controlling the tracking driver to trigger the tracking to accelerate until the speed is the same as the speed of the spindle, controlling the tracking driver to output a same-speed signal to the cutting driver, comprises:
when a starting signal of the photoelectric sensor is received, the shaft-tracking driver is controlled to trigger the shaft-tracking to accelerate until the speed of the shaft-tracking driver is the same as that of the main shaft, the shaft-tracking driver is controlled to output a same-speed signal to the shaft-cutting driver, and the main shaft and the shaft-tracking driver operate in a same speed-reducing area.
4. The adaptive servo motor tracking and cutting control method according to claim 2, wherein when receiving the start signal of the photoelectric sensor, the tracking driver is controlled to trigger the tracking to accelerate until the speed is the same as the speed of the spindle, and the tracking driver is controlled to output the same-speed signal to the cutting driver, comprising:
acquiring the actual position of a tracking shaft and the actual position of a main shaft;
calculating the distance of actual spindle movement and the distance of actual shaft tracking movement according to the position of the shaft tracking target and the actual position of the shaft tracking;
Calculating the position difference between the main shaft and the tracking shaft and the position difference between the same-speed main shaft and the tracking shaft according to the distance of the actual main shaft movement and the distance of the actual tracking shaft movement;
And according to the position difference between the main shaft and the tracking shaft and the position difference between the same-speed main shaft and the tracking shaft, obtaining a compensation distance, controlling the tracking shaft to travel to a corresponding position according to the compensation distance, and controlling the tracking shaft driver to output a same-speed signal to the cutting shaft driver when the position difference between the main shaft and the tracking shaft is within a preset range.
5. The adaptive servo motor chase cutting control method as recited in claim 4, further comprising:
Acquiring the target position of the tracking shaft and the uniform speed of the main shaft;
calculating to obtain a tracking acceleration and a tracking acceleration time according to the tracking target position and the constant speed of the main shaft;
and calling a first preset mode in the tracking shaft driver to enable the tracking shaft to move according to the set speed and position.
6. The adaptive servo motor chase cutting control method as recited in claim 4, further comprising:
And carrying out low-pass filtering on the compensation distance to avoid the step caused by a larger compensation distance.
7. The adaptive servo motor tracking and cutting control method according to claim 3, wherein when receiving the start signal of the photoelectric sensor, the tracking driver is controlled to trigger the tracking to accelerate until the speed is the same as the speed of the spindle, and the tracking driver is controlled to output the same-speed signal to the cutting driver, comprising:
when a starting signal of a photoelectric sensor is received, acquiring the actual position of a main shaft, and calculating the target position of a tracking area according to a motion coefficient;
controlling the tracking shaft to reach a target position with preset acceleration, calculating the difference between a theoretical position and an actual position in real time to obtain a deviation value, and adjusting the synchronous speed of the main shaft and the tracking shaft after proportional integral adjustment of the deviation value;
And when the main shaft and the tracking shaft are in the same deceleration, calculating the actual speed error of the motor, and if the error is smaller than the set same-speed judging error threshold value, controlling the tracking shaft driver to output the same-deceleration signal to the cutting shaft driver.
8. The adaptive servo motor chase cutting control method as recited in claim 7, further comprising:
and acquiring a main shaft tracking area movement distance and a theoretical tracking area tracking target position, and determining the ratio of the main shaft tracking area movement distance to the theoretical tracking area tracking target position as a movement coefficient.
9. An adaptive servo motor chase cutting control system, the system comprising:
A main shaft and a corresponding shaft-following and shaft-cutting device; the main shaft is provided with a main shaft encoder, the shaft tracking is provided with a shaft tracking driver, and the shaft cutting is provided with a shaft cutting driver; the main shaft encoder is respectively connected with the cutting shaft driver and the tracking shaft driver through encoder interfaces, so that the cutting shaft driver and the tracking shaft driver acquire the position information of the main shaft in real time;
The first signal interface of the shaft-following driver is connected with the second signal interface of the shaft-cutting driver; when the speeds of the main shaft and the shaft are the same, controlling the shaft-chasing driver to send the same-speed signal to the shaft-cutting driver through the first signal interface and the second signal interface, and controlling the shaft-cutting driver to trigger the shaft-cutting to cut off materials;
The third signal interface of the shaft cutting driver is connected with the fourth signal interface of the shaft tracking driver; after the material is cut off by the cutting shaft, the cutting shaft driver is controlled to send a cutting completion output signal to the shaft following driver through the third signal interface and the fourth signal interface, and the shaft following driver is controlled to trigger the shaft following speed reduction and stop.
10. The adaptive servo motor tracking and cutting control system according to claim 9, wherein a photoelectric sensor is arranged on the main shaft, the photoelectric sensor is respectively connected to the tracking driver and the cutting driver through high-speed terminals, and when the photoelectric sensor detects the belt movement, a starting signal is sent to the tracking driver and the cutting driver.
11. The adaptive servo motor chaser control system of claim 9, wherein the spindle interfaces with a belt, the spindle encoder comprises an ABZ encoder, and the spindle is coupled to the ABZ encoder.
12. An adaptive servo motor chase cutting control device, the device comprising:
The constant-speed running control module is used for controlling the spindle to run at a constant speed;
The speed control module is used for controlling the shaft-following driver to trigger the shaft-following to accelerate until the speed is the same as that of the main shaft when receiving a starting signal of the photoelectric sensor, controlling the shaft-following driver to output a same-speed signal to the shaft-cutting driver, and controlling the shaft-cutting driver to trigger the shaft-cutting to start and keep the same speed with the shaft-following when receiving the starting signal of the photoelectric sensor;
And the cutting control module is used for controlling the shaft cutting driver to trigger the shaft cutting driver to cut off materials when receiving the same-speed signal of the shaft tracking driver, sending a cutting completion output signal to the shaft tracking driver and controlling the shaft tracking driver to trigger the shaft tracking to slow down and stop.
13. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the adaptive servo motor chase control method of any one of claims 1 to 7.
14. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the adaptive servo motor chase control method of any one of claims 1 to 7.
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|---|---|---|---|
| CN202311791120.3A CN118131827A (en) | 2023-12-21 | 2023-12-21 | Self-adaptive servo motor tracking and cutting control method, device and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311791120.3A CN118131827A (en) | 2023-12-21 | 2023-12-21 | Self-adaptive servo motor tracking and cutting control method, device and system |
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| CN202311791120.3A Pending CN118131827A (en) | 2023-12-21 | 2023-12-21 | Self-adaptive servo motor tracking and cutting control method, device and system |
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